Viesturs No I did not screw it up. My kinematics equations are an abstract from a full XYZACkins program with dx,dy,and dz axis offsets, which have been tested and has worked for a long time cutting impellers and other stuff. I wanted to keep it simple to address the issue of G54, to G59 offsets.
What you did not notice are the signs of the sin(C) functions. It is a well known fact that sin(-C) = -sin(c) And cos(-C) = cos(C). I think my XYACkins is correct. It is the same as rotatekins when A, dx, dy and dz is zero. I want to be able to use offsets of C (and possibly A) while in world mode. Whereas it works OK in joint coordinates with trivkins, it seems to function differently in world mode using XYZCkins. My example code in the previous mail explained all that. Try the example code with rotatekins and trivkins and see what you get. Rudy ------------------------------------------------------------------------------ Write once. Port to many. Get the SDK and tools to simplify cross-platform app development. Create new or port existing apps to sell to consumers worldwide. Explore the Intel AppUpSM program developer opportunity. appdeveloper.intel.com/join http://p.sf.net/sfu/intel-appdev _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
